Alright, so I searched and didn't quite find the same issue as others when their VDC, SLIP, SES lights were on. Others had a bad throttle body, or brakelight issue, or brake pad wear, etc.

My brakes pad level are good, I also checked to make sure the rear lights operated normally including the CHMSL and they're good, my car does not go into limp mode, I can freely rev the engine and race up the tach no problems.
Some problems or oddities that I noticed. If I turn the key by itself the started will just crank away but will never turn over. For some reason, if I pump the gas pedal several times it will eventually start (odd b/c we have electronic throttle....) Also, the few times that the car starts up with only the SES light on, I can drive normally for a bit then suddenly it will cut the power for 1 or 2 seconds and then VDC and SLIP lights will come on as well, but power comes back normally. Other times I start the car, all 3 lights are on and it won't do that cut power thing. Somehow it is noticeable, but the intake sound is deeper, and car feels a bit snappier at times. Sometimes once I start the car and only the SES light is on, I can drive for a few minutes and the engine will just die. Once I restart all 3 lights are on.

This past Saturday (when it started) I went to start my car and it would not fire. You can hear the starter click away but it just wouldn't turn over. I've tested the battery's voltage and it is good. The battery terminal connections are good as well. My dad knows a engine mechanic so we went and scanned for errors and it pulled up 1 code only which is DTC P0340 (Cam Position Sensor (PHASE)). From reading the service manual, it says possible issues could be:
-Harness or connectors (the sensor circuit is open or shorted)
-Camshaft position sensor (PHASE)
-Camshaft (intake)
-Starter motor
-Starting system circuit
-Dead (weak) battery

Our collective guess says that it would ideally be Camshaft Position Sensor or (PHASE). Doesn't phase mean the degree or retard or advance?

What are your experiences with an issue like mine? Would you guys collectively suggest that I take it to the dealership and have them fix it? The car is out of warranty and has 81,001 miles on it.

I think this following bit of information might be of importance. About 3/4 weeks ago before this situation, I had to add oil because it turns out it was low. Not an oil change but I simply added oil. The bad thing was that my car has always had synthetic mobil 1 5w-30. But my father added regular dino 5w-30 into the mix. I really did not like that but it was already done. Could that odd mixture have some type of ill effect?

 

FIXED

It may be premature for me to confidently say it but I believe it's been fixed. As the code indicated, there was a problem with the Camshaft Position Sensor for Bank 1. After reading through the service manual and going through the possible problems, we narrowed it down to a faulty sensor rather than a weak battery/camshaft issues, starter motor, starting system circuit short.

Replaced the sensor and walaa. Car starts up normally and doesn't sound strange at all. Feels perfectly normal.

 

where did you get the part?

 

This happened to me today. Cost me $500 at stealership. Changed both battery and sensor. what a PITA.